'''
Copyright 2011 Jake Ross

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

   http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
'''
#=============enthought library imports=======================
from traits.api import HasTraits, Any, Property, List
from traitsui.api import View, Item, Group, VGroup

#=============standard library imports ========================

#=============local library imports  ==========================
def validate(v):
    '''
    '''
    try:
        v = int(v)
    except:
        v = 0

    return v

class Joystick(HasTraits):
    '''
        G{classtree}
    '''
    parent = Any
    xnegative = Property(fvalidate=validate)
    xpositive = Property(fvalidate=validate)

    ynegative = Property(fvalidate=validate)
    ypositive = Property(fvalidate=validate)

    znegative = Property(fvalidate=validate)
    zpositive = Property(fvalidate=validate)
    high_low_bit = Property
    dio_bits = List

    def _get_high_low_bit(self):
        '''
        '''
        return self.dio_bits[0][2]

    def _set_high_low_bit(self, v):
        '''
            
        '''
        for d in self.dio_bits:
            d[2] = v
        self.enable()

    def _get_xnegative(self):
        '''
        '''
        return self.dio_bits[0][0]
    def _get_ynegative(self):
        '''
        '''
        return self.dio_bits[1][0]
    def _get_znegative(self):
        '''
        '''
        return self.dio_bits[2][0]
    def _get_xpositive(self):
        '''
        '''
        return self.dio_bits[0][1]
    def _get_ypositive(self):
        '''
        '''
        return self.dio_bits[1][1]
    def _get_zpositive(self):
        '''
        '''
        return self.dio_bits[2][1]

    def _set_xnegative(self, v):
        '''
           
        '''
        self.dio_bits[0][0] = v
        self.enable()
    def _set_ynegative(self, v):
        '''
            
        '''
        self.dio_bits[1][0] = v
        self.enable()
    def _set_znegative(self, v):
        '''
            
        '''
        self.dio_bits[2][0] = v
        self.enable()
    def _set_xpositive(self, v):
        '''
            
        '''
        self.dio_bits[0][1] = v
        self.enable()
    def _set_ypositive(self, v):
        '''
            
        '''
        self.dio_bits[1][1] = v
        self.enable()
    def _set_zpositive(self, v):
        '''
            
        '''
        self.dio_bits[2][1] = v
        self.enable()

    def load_parameters(self, f):
        '''
        '''
        lines = [line[:-1] for line in f if (line[0] != chr(13) and line[0] != '#')]

        for i in range(3):
            self.dio_bits.append([int(a) for a in lines[i].split(',')])


    def disable(self):
        '''
        '''
        com = ';'.join([self.parent._build_command_('BQ', xx=a.id, nn=0) for a in self.parent.axes])[:-1]
        self.parent.ask(com)
        com = ';'.join([self.parent._build_command_('TJ', xx=a.id, nn=1) for a in self.parent.axes])[:-1]
        self.parent.ask(com)

    def enable(self):
        '''
        '''
        self.parent.destroy_group()

        self.parent.ask('BO0')
        args = [
               ('BP', None, 'assign dio bits'),
           ('BQ', 1, 'enable dio bits'),
         #  ('SI',100,'set update jog velocity interval (milliseconds)'),
         #  ('SK',[0.5,0], 'set scaling coefficients'),
           ('TJ', 3, 'set trajectory mode to jog')
         ]
#        bits=[[12,13],[14,15],[16,17]]

        coms = []
        for a in self.parent.axes:
            for ai in args:
                nn = ai[1]
                if ai[0] == 'BP':
                    nn = self.dio_bits[a.id - 1]
                coms.append(self.parent._build_command_(ai[0], xx=a.id, nn=nn))

        com = ';'.join(coms)

        self.parent.ask(com)



    def traits_view(self):
        '''
        '''
        dio_group = Group()
        for a in ['x', 'y', 'z']:
            i = VGroup(Item('%snegative' % a), Item('%spositive' % a))
            dio_group.content.append(i)

        dio_group.content.append(Item('high_low_bit'))
        return View(dio_group,
                   resizable=True)
